In a small saucepan, combine vinegar, honey and salt; cook and stir over low heat until blended, 2-3 minutes. Reserve 1/3 cup mixture for brushing peaches., Bring remaining mixture to a boil over medium heat; cook and stir just until mixture begins to thicken slightly (do not overcook), 4-6 minutes. Remove from heat., Brush peaches with some of the reserved balsamic mixture. Grill, covered, on an oiled rack over medium heat until caramelized, brushing occasionally with remaining reserved balsamic mixture, 6-8 minutes on each side. Serve with glaze and, if desired, ice cream.